Pool cleaning system and method to automatically clean surfaces of a pool using images from a camera

ABSTRACT

A pool cleaning system for cleaning debris from a submerged surface of a swimming pool includes a self-propelled pool cleaner having rotatably-mounted supports for supporting and guiding the cleaner on the pool surface; an electric motor for enabling the rotation of the rotatably-mounted supports on the pool surface; at least one camera to capture imagery of the pool surface; a controller, in electronic communication with the at least one camera, to determine a cleanliness characteristic of the pool surface on which the cleaner has passed based on the camera imagery and generate a control signal to direct movement of the cleaner based on the cleanliness characteristic of the pool surface, and a portable electronic device configured to present a graphic on a display, the graphic depicting the submerged surface of the pool and those portions of the surface that remain uncleaned as the cleaner traverses the pool surface.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.16/919,750, filed Jul. 2, 2020, which is a continuation of U.S. patentapplication Ser. No. 16/416,840, filed May 20, 2019 (now U.S. Pat. No.10,739,785), which is a continuation of U.S. patent application Ser. No.15/973,983, filed May 8, 2018 (now U.S. Pat. No. 10,338,599), which is acontinuation of U.S. patent application Ser. No. 15/207,065, filed Jul.11, 2016 (now U.S. Pat. No. 9,995,051), which is a continuation of U.S.patent application Ser. No. 13/545,918, filed Jul. 10, 2012 (now U.S.Pat. No. 9,388,595), the contents of all of which are incorporatedherein by reference in their entireties.

BACKGROUND

Manually cleaning the floor and sides of a swimming pool may be atedious and time-consuming task. As a result, automated robotic poolcleaners have been developed. However, controlling and monitoring suchautomated robotic pool cleaners to insure that all portions of the poolsurfaces are satisfactorily cleaned remains a challenge.

SUMMARY OF THE INVENTION

The disadvantages heretofore associated with the prior art are overcomeby the present invention of a pool cleaning system for cleaning debrisfrom a submerged surface of a swimming pool comprising: a self-propelledpool cleaner having rotatably-mounted supports for supporting andguiding the cleaner on the pool surface; a filter configured to retainthe debris collected from the submerged surface of the swimming pool; anelectric motor for enabling the rotation of the rotatably-mountedsupports on the pool surface; at least one camera to capture imagery ofthe pool surface; a controller, in electronic communication with the atleast one camera, to determine a cleanliness characteristic of the poolsurface on which the cleaner has passed based on the camera imagery andgenerate a control signal to direct movement of the cleaner based on thecleanliness characteristic of the pool surface; and a portableelectronic device is configured to present a graphic on a display, thegraphic depicting the submerged surface of the pool and those portionsof the surface that remain uncleaned as the cleaner traverses the poolsurface.

In one aspect, the at least one camera is carried by the cleaner. Inanother aspect, the controller is carried by the cleaner. In stillanother aspect, the electric motor is mechanically connected to at leastone of the rotatably-mounted supports.

In yet another aspect, the controller is operable to execute one or morecleaning programs for cleaning the submerged surfaces of the pool. Inone aspect, the control signal causes the cleaner to drive in adirection to clean a portion of the pool surface based on thecleanliness characteristic of the pool surface. Alternatively, thecontrol signal causes the cleaner to steer in a direction to clean aportion of the pool surface based on the cleanliness characteristic ofthe pool surface. In another aspect, the control signal causes thecleaner to drive in a direction to re-clean a portion of the poolsurface over which the cleaner has passed. Alternatively, the controlsignal causes the cleaner to steer in a direction to re-clean a portionof the pool surface over which the cleaner has passed.

In one aspect, the captured imagery from the at least one camera isdigitally processed by the controller to determine the cleanlinesscharacteristic of the pool surface. Alternatively, the captured imageryfrom the at least one camera is digitally processed by a remoteprocessor to determine the cleanliness characteristic of the poolsurface.

In another aspect, the system further comprises a dry station locatedremotely from the cleaner and in communication with the cleaner, whereinthe dry station includes the controller. Alternatively, the systemfurther comprises a dry station located remotely from the cleaner and incommunication with the cleaner, wherein the controller is locatedremotely from the cleaner and the dry station. In still another aspect,the controller controls electric power provided to the electric motor.

In one aspect, the control signal causes the cleaner to move in adirection of a portion of the pool surface to be cleaned based solelyupon signals received from the camera. In another aspect, the controlsignal causes the cleaner to drive in a direction to clean a portion ofthe pool surface based on the cleanliness characteristic of the poolsurface. Alternatively, the control signal causes the cleaner to steerin a direction to clean a portion of the pool surface based on thecleanliness characteristic of the pool surface. In yet another aspect,the control signal causes the cleaner to drive in a direction tore-clean a portion of the pool surface over which the cleaner haspassed. Alternatively, the control signal causes the cleaner to steer ina direction to re-clean a portion of the pool surface over which thecleaner has passed.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic illustration of an example pool cleaning system.

FIG. 2 is a schematic illustration of an implementation of the poolcleaning system of FIG. 1.

FIG. 3 is a schematic illustration of an implementation of the poolcleaning system of FIG. 1.

FIG. 4 is a schematic illustration of an implementation of the poolcleaning system of FIG. 1.

FIG. 5 is a schematic illustration of an implementation of the poolcleaning system of FIG. 1.

FIG. 6 is a flow diagram of an example method that may be carried outwith the pool cleaning system of FIG. 2-5.

FIG. 7 is a plan view of an example display with an example graphicaldepiction.

FIG. 8 is a plan view of another example display with an examplegraphical depiction.

FIG. 9 is a schematic illustration of an implementation of the poolcleaning system of FIG. 1 with an example pool cleaning vehicle.

FIG. 10 is a bottom perspective view of the example pool cleaningvehicle of the system of FIG. 9.

DETAILED DESCRIPTION OF THE EXAMPLE EMBODIMENTS

FIG. 1 schematically illustrates an example pool cleaning system 20. Asschematically shown by FIG. 1, pool cleaning system 20 is adapted toclean submerged surfaces of a pool 22 containing a liquid 24. Inparticular, pool cleaning system 20 is adapted to clean at least abottom or floor surface 26 of the pool 22 and possibly to additionallyclean surfaces 28 of pool 22. As will be described hereafter, poolcleaning system facilitates the control and monitoring of a robotic poolcleaner to better assure that all portions of pool 22 are satisfactorilycleaned.

Pool cleaning system 20 comprises vehicle 30, cameras 32 and controller42. Vehicle 30 comprises an automated powered device configured totravel adjacent to submerged or water containing surfaces of pool 20(such as floor 26 and/or side surfaces 28) while cleaning such surfaces.In one implementation, vehicle 30 may include vacuum or suction devices,a liquid circulation system and a filter to draw debris, such asbacterial growth or plant growth, from such pool surfaces, wherein thedrawn liquid containing such residue or foreign matter is filtered tocollect the debris. In other implementations, vehicle 30 may not collectsuch debris, wherein vehicle 30 merely loosens such debris on the poolsurfaces such that the loosened or separated debris may be subsequentlyremoved using the existing liquid filtering system of pool 22.

To assist in the loosening of debris, in one implementation, vehicle 30may additionally include a chemical dispenser to closely apply poolcleaning chemicals to the pool surfaces as the vehicle 30 traverses suchsurfaces. In one implementation, vehicle 30 may additionally oralternatively include one or more scrubbing members, such as active(driven) or passive (undriven or idling) brushes, to assist in theremoval of residue or foreign matter from such pool surfaces. In yetanother implementation, vehicle 30 may additionally or alternativelyinclude liquid jets to assist in the loosening of debris.

To move along the submerged surfaces of pool 22, vehicle 30 includes oneor more propulsion mechanisms. In one implementation, vehicle 30 ispropelled along the submerged pool surfaces using wheels, rollers,tracks or other surface contacting members powered by a motor and thelike. Such wheels, rollers or tracks may themselves include thescrubbing members used to clean the surfaces. In one implementationvehicle 30 may also alternatively be propelled by means of the vacuum orliquid jets. The vacuum or liquid jets used for such propulsion nozzlefacilitate loosening of debris for collection by vehicle 30. In otherimplementations, vehicle 30 may include other propulsion mechanisms.

Cameras 32 comprise devices configured to capture video or time lapseimages of pool 22. In the example illustrated, cameras 32 are mounted onstructures external to pool 22. In other words, cameras 32 are notsubmerged. In other implementations, cameras 32 may alternatively bemounted to vehicle 30. In the example illustrated, cameras 32 capturemovement of vehicle 30 while vehicle 30 is submerged within pool 22. Inother implementations, cameras 32 merely capture images of submergedsurfaces 26, 28 of pool 22.

In the example illustrated, cameras 32 comprise cameras serving as partof a home or pool security system, wherein such cameras detect thepresence of a person at pool 22 satisfying a predefined characteristicand wherein an alert is output upon the person's detected presence. Forexample, in one implementation, cameras 32 are utilized as part of asecurity system that detects when a person below a predefined age, suchas a child, is present at pool 22 without a detected presence of arecognized adult. In another implementation, cameras 32 may detect thepresence of an unauthorized person or intruder at pool 22.Identification of the person may be achieved by an off-site human orcomputerized monitoring system, wherein signals from cameras 32 aretransmitted across a wide area network or may be achieved with softwareof controller 42 which includes facial recognition or otheridentification programming.

Because pool cleaning system 20 utilizes pre-existing cameras 32provided as part of a security system or shares the use of cameras 32with such a home or pool security system, pool cleaning system 20 iseasier to set up, less complex and less expensive. In otherimplementations, pool cleaning system 20 may utilize dedicated cameras22 independent of any cameras associated with a home, facility or poolsecurity system. In such an alternative system, cameras 32 may be moreprecisely focused upon pool 22 and surfaces 26, 28 while also includingappropriate lenses or modifications to account for glare, refraction andthe like to better facilitate the capture of surfaces and vehicle 30which are submerged.

Controller 42 comprises one or more processing units in communicationwith vehicle 30 and cameras 32. For purposes of this application, theterm “processing unit” shall mean a presently developed or futuredeveloped processing unit that executes sequences of instructionscontained in a memory. Execution of the sequences of instructions causesthe processing unit to perform steps such as generating control signals.The instructions may be loaded in a random access memory (RAM) forexecution by the processing unit from a read only memory (ROM), a massstorage device, or some other persistent storage. In other embodiments,hard wired circuitry may be used in place of or in combination withsoftware instructions to implement the functions described. For example,controller 42 may be embodied as part of one or moreapplication-specific integrated circuits (ASICs). Unless otherwisespecifically noted, the controller is not limited to any specificcombination of hardware circuitry and software, nor to any particularsource for the instructions executed by the processing unit.

In one implementation, controller 42 communicates with vehicle 30 andcameras 32 entirely across a wired connection. In anotherimplementation, controller 42 communicates with vehicle 30 and cameras32 across a wireless connection, such as cross a local area network(LAN) or a wide area network (WAN) such as the Internet. One oflimitation, controller 42 may communicate with vehicle 30 and cameras 32using a combination of both wired and wireless communicationconnections.

Controller 42 is configured to generate control signals for steeringvehicle 30 based upon signals received from cameras 32. In oneimplementation, controller 42 provides the sole steering directions forvehicle 30 using signals from cameras 32. Because vehicle 30 isprecisely steered under the control of controller 42, rather thantraveling in a random manner, entire summer surfaces of pool 22 may bemore quickly and efficiently covered and cleaned. Because controller 42provides the only steering instructions for vehicle 30 and utilizessignals from cameras 32, complex steering algorithms or codes in eithervehicle 30 or controller 42 may be omitted to reduce complexity and costof system 20.

In another implementation, vehicle 30 may cover or travel acrosssurfaces of pool 22 in either a random fashion or according to anautomated pool coverage algorithm or pool coverage pattern stored in amemory associated with vehicle 30 or controller 42. In such animplementation, controller 42 utilizes signals from cameras 32 to verifythat all of the surfaces of pool 22 have been cleaned, that no spotshave been missed. Upon identifying a missed spot, controller 42 utilizessignals from camera 32 to steer vehicle 32 over such missed portions ofsurfaces 26, 28. According to one example, controller 42 not only usessignals from camera 32 to determine whether any portions of surfaces 26,28 have been missed entirely, but to also determine whether any portionsof surfaces 26, 28 have been cleaned, but not to a satisfactory degreeor extent. In such circumstances, controller 42 uses signals fromcameras 32 to steer vehicle 34 such areas to re-clean such portionsuntil such portions have been satisfactorily cleaned such that theportions have a cleanliness characteristic satisfying a predefinedthreshold.

FIG. 2 schematically illustrates pool cleaning system 120, theparticular example of pool cleaning system 20 described above. Poolcleaning system 120 is similar to pool cleaning system 20 except thatpool cleaning system 120 additionally comprises dry station 46 anddisplay 50. Those remaining components of pool cleaning system 120 whichcorrespond to components of pool cleaning system 20 are numberedsimilarly.

Dry station 46 comprises a station in communication with vehicle 30 andcameras 32 outside of pool 22. Dry station 46 incorporates controller42. In one implementation, dry station 46 communicates with vehicle 30in a wired fashion. In such an implementation, dry station 46 furtherprovides electrical power to vehicle 30 in a wired fashion. Dry station46 communicates with cameras 32 and either a wired or wireless fashion.

Display 50 comprises a device to present a graphical images and text ona display screen. In one implementation, display 58 may be incorporatedas part of dry station 46. In another implementation, display 50 may beprovided on a portable electronic device, a computer, a television andthe like. Display 50 is utilized by pool cleaning system 120 to presentinformation regarding the cleaning of pool 22 to facilitate control ofvehicle 30 by controller 42. In one implementation, display 50 isutilized by pool cleaning system 120 and a controller 42 to present agraphical depiction of those portions of surfaces 26, 28 of pool 22 havenot been satisfactorily cleaned so as to satisfy a predefinedcleanliness characteristic threshold. Such portions may compriseportions that have been completely missed by vehicle 30 as well as thoseportions that have been covered by vehicle 30 but have not beensatisfactorily cleaned with the given number of passes of vehicle 30 orthe existing cleaning settings of vehicle 30. The graphical depictionpresented on display 50 enables a person view the quality of the priorcleaning session and to input commands causing controller 42 to generatecontrol signals using signals from camera 32 to steer vehicle 30 back tosuch identified portions where such portions may be cleaned at the sameor elevated cleaning aggressiveness settings.

Another implementation, display 50 may be further utilized by controller42 to depict the progress of vehicle 30 in cleaning pool 22. Such adisplay 50 allows a person to visually determine how much of the poolhas been currently cleaned and to estimate the remaining time before thepool cleaning task is completed. In certain circumstances, using display50, a person may adjust a setting of vehicle 30 to accelerate a rate atwhich surfaces 26, 20 of pool 22 are cleaned to meet an earlier desiredcompletion time for such pool cleaning.

FIG. 3 schematically illustrates pool cleaning system 220, anotherexample implementation of pool cleaning system 20. Pool cleaning system220 is similar to pool cleaning system 20 except that pool cleaningsystem 220 additionally comprises dry station 246, display 50, andremote server 254. Those remaining components of pool cleaning system220 which correspond to components of pool cleaning system 20 or poolcleaning system 120 are numbered similarly.

Dry station 246 is similar to dry station 46, described above, exceptthat dry station 246 serves as a local interface for communication withcontroller 42 across a network 260. In one implementation, network 260may comprise a local area network. In another implementation, network260 may comprise a wide area network, such as the Internet. For example,in one implementation, dry station 246 may incorporate a modem. In oneimplementation, dry station 246 may communicate across a local areanetwork to controller 42. In another implementation, dry station 246 maycommunicate through a router, across a local area network, to a localmodem which communicates across a network 260. The example illustrated,dry station 246 further provides part of vehicle 30 across a wired cableor wired connection. Display 50 is described above with respect tosystem 120.

Remote server 254 comprises a server remote from dry station 246 whichis in communication with dry station 246 across network 260. Remoteserver 254 includes controller 42. During operation, signals fromcameras 32 are transmitted across dry station 246 across network 260 tocontroller 42 of remote server 254. Based upon such signals from cameras32, controller 42 generates control signals which are transmitted backacross network 260 and through dry station 246 to vehicle 30 to steervehicle 30.

As shown by FIG. 3, remote server 254 and network 260 may be shared aspart of other pool cleaning systems 320, wherein controller 42 generatescontrol signals for steering the pool cleaning vehicle 30 of system 320based upon signals from cameras 32 transmitted across dry station 246 ofsystem 320. In such an implementation, the cost and complexity of poolcleaning system 220 is reduced since controller 42 is remotely providedat remote server 254 which services multiple pool cleaning systems 220,320. Upgrades to controller 42 and its software are also more easilyachieved for all pool cleaning systems to 20, 320 and their pools 22,222 being serviced. In one implementation, the supervised cleaning,inspection and possible re-cleaning facilitated by the use of cameras 32may be provided as part of a subscription to users of vehicle 30. Insuch an implementation, a pool 22 having security cameras 32 may beupgraded with appropriate software or an appropriate software moduleadded to dry station 246 to make a network connection with controller 42which directs the security cameras 32 to capture vehicle 30 utilizessuch signals for steering vehicle 30.

FIG. 4 schematically illustrates pool cleaning system 420, anotherparticular implementation of pool cleaning system 20. Pool cleaningsystem 420 is similar to pool cleaning system 120 except that poolcleaning system 420 additionally comprises a portable electronic device464. Those remaining components of pool cleaning system 420 whichcorrespond to components of pool cleaning system 120 are numberedsimilarly.

Portable electronic device 464 comprises a portable handheld electronicdevice in communication with controller 42 and/or dry station 46 acrossnetwork 260. Examples of such a portable electronic device (PED) 300include, but are not limited to, a smart phone, a personal dataassistant (PDA), laptop, notebook computer, tablet computer (e.g. IPAD)and MP3 player (e.g., IPOD TOUCH). In the example illustrated, PED 464comprises input 466 and display 468.

Input 466 serves as a user interface for PED 464 by which inputs aremade to PED 464. Input 466 facilitates entry of inputs or commands by aperson to cause controller 42 to generate control signals varying thecontrol of vehicle 30. In one implementation, input 466 comprise akeyboard in other implementations, input 466 may comprise a touchpad, astylus, a microphone with associated speech recognition software orprogramming, a touch screen, buttons, switches and the like. In someimplementations, input 466 may comprise a touch screen incorporated aspart of display 468.

Display 468 comprises a user interface by which graphical or textualdata is presented to a user. Display 468 may present the same or similarinformation as presented at dry station 246 by display 50 as describedabove. In one implementation, display 468 comprises a liquid crystaldisplay. In other implementations, display 468 may comprise other typesof display technology such as a light emitting diode display, an organiclight emitting diode display (OLED), an electronic ink (e-ink) displayor other types of display technology in present use or developed in thefuture. Although system 420 is illustrated as including controller 422is part of dry station 46, in some implementations, controller 42 mayalternatively be located as part of PED 464.

PED 464 enables a person located remote from pool 22 to monitor theprogress of the cleaning of pool 22 by vehicle 30 of system 420. PED 464provides a person with a graphical presentation (described above withrespect to display 50) indicating those portions of surfaces 26, 28 ofpool 22 that have been completed as well as those portions 26, 20 andthat remain to be cleaned. The person may also be provided with agraphical indication of what portions need to be re-cleaned to meetpredetermined cleanliness thresholds. In the example illustrated, input466 enables a person to enter commands or selections which aretransmitted across network 260 to controller 42 to adjust operation ofvehicle 30. For example, the path or route of vehicle 30 may be changed,the aggressiveness of the cleaning chemicals or mechanical cleaningdevices may be adjusted, the speed at which vehicle 30 traversessurfaces 26, 28 may be adjusted. In response to such adjustment signalsfrom PED 464, controller 42 may utilize signals from cameras 32 toadjust the steering of vehicle 30.

FIG. 5 schematically illustrates pool cleaning system 520, anotherexample implementation of pool cleaning system 20. Pool cleaning system520 is similar to pool cleaning system 420 except that pool cleaningsystem 520 additionally comprises a remote server 554. Those remainingcomponents of pool cleaning system 520 which correspond to components ofpool cleaning system 420 are numbered similarly.

Remote server 554 is similar to remote server 254 described above withrespect to system 220. Remote server 554 comprises a server remote fromdry station 246 which is in communication with dry station 246 acrossnetwork 260. Remote server 254 includes controller 42. During operation,signals from cameras 32 are transmitted across dry station 246 acrossnetwork 260 to controller 42 of remote server 254. Based upon suchsignals from cameras 32, controller 42 generates control signals whichare transmitted back across network 260 and through dry station 246 tovehicle 30 to steer vehicle 30. Controller 42 further relays either theraw signals from camera 32 or image signals generated based upon signalsfrom cameras 32 to PED 464, wherein such images (described above) arepresented on display 468. As noted above, PED may further receivecommands through input 466, wherein such commands are transmitted tocontroller 42 which generates control signals that are ultimatelytransmitted to vehicle 30 for steering vehicle 30.

As with remote server 254, remote server 554 and network 260 may beshared as part of other pool cleaning systems 320 (shown in FIG. 3),wherein controller 42 generates control signals for steering the poolcleaning vehicle 30 of system 320 based upon signals from cameras 32transmitted across dry station 246 of system 320. In suchimplementations, controller 42 of remote server 554 may interact withother PEDs 464. In such an implementation, the cost and complexity ofpool cleaning system 220 is reduced since controller 42 is remotelyprovided at remote server 254 which services multiple pool cleaningsystems 220, 320. Upgrades to controller 42 and its software are alsomore easily achieved for all pool cleaning systems to 20, 320 and theirpools 22, 222 being serviced. In one implementation, the supervisedcleaning, inspection and possible re-cleaning facilitated by the use ofcameras 32 may be provided as part of a subscription to users of vehicle30. In such an implementation, a pool 22 having security cameras 32 maybe upgraded with appropriate software or an appropriate software moduleadded to dry station 246 to make a network connection with controller 42which directs the security cameras 32 to capture vehicle 30 utilizessuch signals for steering vehicle 30. As indicated by broken lines, inother implementations, the controller 42 for generating control signalssteering vehicle 30 based upon signals from cameras 32 may alternativelybe relocated in PED 464.

FIG. 6 is a flow diagram illustrating an example method 600 that may becarried out by any of systems 120-520. As indicated by step 602, cameras32 capture images of pool cleaning by vehicle 30. As indicated by step604, controller 42 obtain such signals from cameras 32 for the surfacesof pool 22 that have been cleaned. As indicated by step 606, controller42 uses information gathered from the signals from cameras 32 toidentify those portions of surfaces 26, 28 not satisfactorilycleaned—not satisfying a predefined cleanliness characteristic ormeasurement threshold. One example of a cleanliness characteristicmeasurement a threshold may be how well the color of a surface matches apredetermined desirable color for the pool surface (such as originalcolor of the tile or surface). A surface that has been missed entirelyby vehicle 30 during a pool cleaning session may be automatically deemedto not satisfy a predetermined cleanliness characteristic.

As indicated by step 608, based upon such determinations, controller 42generates control signals resulting in the presentation of a graphicaldepiction of those portions of pool 22 that has not been satisfactorilycleaned. Such graphical representations or depictions may be presentedon display 50 or display 468. FIGS. 7 and 8 illustrate examples ofgraphical depictions that may be presented.

FIG. 7 illustrates display 468 presenting graphical depiction 620.Graphical depiction 620 comprises a first graphic 622 having a firstportion 624 representing sides or walls 28 of pool 22 and a secondportion 626 representing the floor 26 of pool 22. Graphical depiction620 further comprises a moving icon 628 representing the currentpositioning of vehicle 30. In one implementation, the path of vehicle 30may additionally be depicted by icon 628 shown in broken lines. As shownby FIG. 7, those portions 632 of surfaces 26, 28 of pool 22 (shown inFIG. 1) over which of vehicle 30 has moved are identified by graphicaldepiction 620 either by color, markings or other various distinctiveattributes. Likewise, those portions 634 of surfaces 26, 28 of pool 22that have not been covered by vehicle 30 are identified by a distinctcolor col marking or distinctive attribute of depiction 620. As aresult, a person may view the current position of vehicle 30, the extentto which pool 22 has been cleaned or covered by vehicle 30 and theextent of pool 22 that remains to be cleaned. In the exampleillustrated, depiction 620 further identifies those portions 638 ofsurfaces 26, 28 that have been cleaned, but which have not been cleanedto a satisfactory degree or extent. In one implementation, portions 638may be identified by colors, brightness, markings or other visuallydistinctive attributes that are visually distinct from both portions 632and portions 634. In other implementations, portions 638 may have thesame characteristic of portions 634 in yet other implementations,different portions 638 may have different visual attributes dependingupon a degree to which such clean portions have failed to satisfy thepredefined cleanliness characteristic threshold. In someimplementations, different port 638 may have different visual attributesdepending upon different cleaning strategies that may be recommended forthe different portions 638. For example, controller 42 may determine andrecommend a first cleaning strategy (a first chemical solution jetted ata first rate and scrubbed at a first rate) with respect to a firstportion 638 and may recommend a second different cleaning strategy (asecond chemical solution jetted at a second rate is about a second rate)with respect to a second portion 638, wherein the different cleaningstrategies are represented by different visual attributes presented indepiction 620.

FIG. 8 illustrates display 468 presenting a graphical depiction 720.Graphical depiction 720 comprises a first graphic 622 having a firstportion 624 representing sides or walls 28 of pool 22 and a secondportion 626 representing the floor 26 of pool 22 (shown in FIG. 1).Graphical depiction 720 is similar to graphical depiction 620 exceptthat graphical depiction 720 omits icon 628 presenting vehicle 30. Likedepiction 620, depiction 720 graphically depicts those portions 632 ofsurfaces 26, 28 over which vehicle 30 has traveled while in a cleaningmode. Depiction 720 also visually depicts those portions 634 that havenot been covered by vehicle 30 in the cleaning mode and those portions638 over which vehicle 30 has traveled while in the cleaning mode, butwhich have not been cleaned to a satisfactory degree. As illustrated inFIG. 8, different portions 638 may be visibly distinguished from oneanother through color, text or markings indicating either differences inthe cleanliness of such portions 638 or indicating different recommendedcleaning strategies or approaches that may be selected by a person usinginput 466 when vehicle 30 is steered back to such portions 638 forre-cleaning using signals from camera 32.

As indicated by step 610 of FIG. 6, controller 42 generates controlsignals steering vehicle 30 to re-clean portions of pool 22, such asportions 638. Such steering may be facilitated by using signals fromcameras 32. As noted above, in some implementations, a person may beallowed choose a cleaning approach for a particular portion 638 usinginput 466. The selection may be facilitated by visual inspection of thedifferent visual attributes for the particular portion 638 provided bydepiction 720 (or depiction 620). In some implementations, input 466 mayadditionally be utilized by a person to prioritize an order in whichportions 638 are re-cleaned.

FIG. 9 illustrates pool cleaning system 820, an example implementationof pool cleaning system 20. Pool cleaning system 820 is similar to poolcleaning system 520 except the pool cleaning system 820 locatedcontroller 42 in dry station 246 and includes pool cleaning vehicle 830,a specific example of vehicle 30. As shown by FIG. 9, in addition totransmitting control signals generated by controller 42 to vehicle 830,dry station 246 further transmits power from power source 831 through apower line or power cable 833 to vehicle 830. In the exampleillustrated, data communication and communication of control signals,also occurs across wired connections within or alongside the same line833 in the example illustrated, remote server 554 serves as acommunication link by which upgrades to controller 42 may be implementedacross a wide number of pool cleaning systems and by which informationfrom controller 42 is conveyed to one or more portable electronicdevices 464 across network 260.

Vehicle 830 comprises a robotic or automated pool cleaning devicevehicle 830 comprises a self-contained onboard filtration system withdrive and pump motors. Vehicle 830 utilizes an internal microprocessorguided drive motor to systematically clean surfaces of pool 22. As shownby FIGS. 9 and 10, vehicle 830 utilizes a toothed track drive 900provide traction and propulsion for vehicle 30. Vehicle 830 comprisesrotating brushes 902 to loosen waterline buildup and breakdown largedebris while power washing jets 904 flush out dirt from pores, seems incorners where brushes 902 may not be able to reach. The loosened dirtand debris is vacuumed through off-center vacuum ports 906 which passesthe vacuumed debris through internally house filter bag. In the exampleillustrated, vehicle 830 further comprises rollers 908 which inhibitvehicle 830 from becoming impeded or stuck on raised drains or pop-upheads. Although illustrated as being employed with system 820, vehicle830 may also be utilized with any of systems 20, 120, 220, 320 and 420.In other implementations, other robotic or automated pool cleaningvehicles may be utilized.

Although the present disclosure has been described with reference toexample embodiments, workers skilled in the art will recognize thatchanges may be made in form and detail without departing from the spiritand scope of the claimed subject matter. For example, although differentexample embodiments may have been described as including one or morefeatures providing one or more benefits, it is contemplated that thedescribed features may be interchanged with one another or alternativelybe combined with one another in the described example embodiments or inother alternative embodiments. Because the technology of the presentdisclosure is relatively complex, not all changes in the technology areforeseeable. The present disclosure described with reference to theexample embodiments and set forth in the following claims is manifestlyintended to be as broad as possible. For example, unless specificallyotherwise noted, the claims reciting a single particular element alsoencompass a plurality of such particular elements.

What is claimed is:
 1. A self-propelled pool cleaner for cleaning debrisfrom a submerged surface of a swimming pool, comprising: a. a vehiclebody; b. means for moving the vehicle body within the swimming pool; c.a filter configured to retain debris collected from the submergedsurface; d. at least one camera mounted directly or indirectly to thebody for capturing an image of at least a first portion of the submergedsurface; and e. a controller (i) positioned on or in the body, (ii) inelectronic communication with the at least one camera, and (iii)configured to generate, in response to the captured image, at least onecontrol signal to cause movement of the body within the swimming poolto, or away from, the first portion of the submerged surface.
 2. Aself-propelled pool cleaner for cleaning debris from a submerged surfaceof a swimming pool, comprising: a. a vehicle body; b. means for movingthe vehicle body within the swimming pool; c. a filter configured toretain debris collected from the submerged surface; d. at least onecamera carried by the body for capturing an image of at least a firstportion of the submerged surface; and e. a controller (i) positioned onor in the body, (ii) in electronic communication with the at least onecamera, and (iii) configured to generate, in response to the capturedimage, at least one control signal to cause movement of the body withinthe swimming pool to, or away from, the first portion of the submergedsurface.
 3. A self-propelled pool cleaner for cleaning debris from asubmerged surface of a swimming pool, comprising: a. a vehicle body; b.means for moving the vehicle body within the swimming pool; c. a filterconfigured to retain debris collected from the submerged surface; d. atleast one camera positioned on or in, or carried by, the body forcapturing an image of at least a first portion of the submerged surface;and e. a controller (i) positioned on or in the body, (ii) in electroniccommunication with the at least one camera and a portable electronicdevice, and (iii) configured to generate, in response to at least one ofthe captured image or information from the portable electronic device,at least one control signal to cause movement of the body within theswimming pool to, or away from, the first portion of the submergedsurface.
 4. A self-propelled pool cleaner for cleaning debris from asubmerged surface of a swimming pool, comprising: a. a vehicle body; b.means for moving the vehicle body within the swimming pool; c. a filterconfigured to retain debris collected from the submerged surface; d. atleast one camera for capturing an image of at least a first portion ofthe submerged surface; and e. a controller (i) positioned on or in thebody, (ii) in electronic communication with the at least one camera, and(iii) configured to generate, in response to the captured image, atleast one control signal to cause movement of the body within theswimming pool to, or away from, the first portion of the submergedsurface.
 5. A self-propelled pool cleaner for cleaning debris from asubmerged surface of a swimming pool, comprising: a. a vehicle body; b.means for moving the vehicle body within the swimming pool; c. a filterconfigured to retain debris collected from the submerged surface; d. achemical dispenser on, in, or carried by the vehicle body; e. at leastone camera on, in, or carried by the vehicle body, for capturing animage of at least a first portion of the submerged surface; and f. acontroller (i) on, in, or carried by the vehicle body, (ii) inelectronic communication with the at least one camera and (iii)configured to generate, in response to the captured image, at least onecontrol signal to cause movement of the body within the swimming poolto, or away from, the first portion of the submerged surface.